CN115445812A - Automatic glue spraying system with double robot gun heads - Google Patents
Automatic glue spraying system with double robot gun heads Download PDFInfo
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- CN115445812A CN115445812A CN202211155384.5A CN202211155384A CN115445812A CN 115445812 A CN115445812 A CN 115445812A CN 202211155384 A CN202211155384 A CN 202211155384A CN 115445812 A CN115445812 A CN 115445812A
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- plc
- robot
- glue
- gun
- glue spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/082—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to a condition of the discharged jet or spray, e.g. to jet shape, spray pattern or droplet size
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
- B05B12/087—Flow or presssure regulators, i.e. non-electric unitary devices comprising a sensing element, e.g. a piston or a membrane, and a controlling element, e.g. a valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/90—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention aims to provide a robot double-gun-head automatic glue spraying system which is used for solving the problem that the excessive glue amount is wasted when a small-area product is sprayed because a robot uses an automatic spray gun to fix the spraying width and the glue amount to spray products with different areas. The PLC is communicated with the touch screen and the six-axis robot through PROFINET, the PLC outputs analog quantity to the proportional valve through set parameters of the touch screen, the six-axis robot switches a switch gun of a spray gun through interaction in the spraying process, the proportional valve is connected to an analog quantity output module terminal of the PLC through wiring, and the electromagnetic valve is connected to an output module terminal of the PLC through wiring to be controlled to be turned on or turned off. The invention has the advantages and positive effects that: the glue spraying process is free from personnel intervention, the robot can spray glue uniformly without leaking spray points, the efficiency is constant, the cost is saved, and the production efficiency is improved.
Description
Technical Field
The invention relates to an automatic glue spraying system, in particular to a robot double-gun head automatic glue spraying system.
Background
At present, the automobile industry is rapidly developed, and various skins are usually coated on the automobile interior trim to realize diversification of appearance and touch. However, during the coating process, the coating skin and the framework need to be adhered by glue. Present glue spraying robot all is single shower nozzle, part to complex structure during the spraying operation generally all adopts a plurality of processes to spout gluey, because of the skeleton of its different positions like the vapour car headrest skeleton, required glue spraying amount is different, will cause like this to realize the glue spraying amount of different pressure through changing the process when the spraying, and the automatic spray gun of the automatic glue spraying system of current robot is big range of spouting, the spray gun of big glue amount, its purpose is for compatible all products, but the area of spouting gluey product is uncertain, with the same big range of spouting, will lead to unnecessary glue extravagant when going to spout the product of small size to fall. The glue belongs to chemicals, and the less waste is the better improvement of the treatment cost of the chemicals in the production of finished products and later periods. The existing glue spraying system: the glue spraying effect can be basically realized, but the control function is simple, the waste of a large amount of glue is caused, intelligent control cannot be realized, and the saving is avoided. The defects are as follows: 1. the automatic glue spraying gun installed on the robot has overlarge spraying amplitude and glue amount, different glue spraying areas of different products are different, the glue spraying area has a width, and if the existing glue gun is used for spraying narrow-surface products, glue is wasted; 2. the wasted glue can be adsorbed on the filter pulp through the adsorption motor. The service cycle of the filtering surface is shortened; 3. glue not adsorbed on the filter cotton can be attached to the interior of the glue spraying room, so that the cleaning workload of operators is increased, and the labor cost is increased.
In order to solve the problems in the glue spraying process in the industry, the robot double-gun head automatic glue spraying system is developed by technical personnel in the field, and has a positive effect on the industry upgrading of the industry.
Disclosure of Invention
The invention aims to provide a robot double-gun-head automatic glue spraying system, which is used for solving the problem that redundant glue amount is wasted when spraying small-area products due to the fact that a robot uses an automatic spray gun to fix spray amplitude and glue amount to spray products with different areas by the aid of a PLC, a touch screen, a proportional valve, an electromagnetic valve, a six-axis robot and an automatic glue spraying gun combined technology. Through reasonable planning, a set of automatic spray gun with small spray amplitude, an electromagnetic valve, a proportional valve and a PLC programmable logic controller are designed and added and installed on the robot. The glue spraying operation is carried out by determining the size of a glue spraying product through adjusting the glue spraying track and the logic of the robot, the product automatically switches a small-spraying-width glue gun to carry out operation when spraying a small-area product, and switches a large-spraying-width glue gun to carry out operation when spraying a wide surface.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the robot double-gun head automatic glue spraying system comprises a PLC (programmable logic controller), a touch screen, a proportional valve, an electromagnetic valve, a six-axis robot and an automatic glue spraying gun, wherein the PLC and the touch screen and the six-axis robot are communicated with each other through PROFINET (programmable logic network), the PLC outputs analog quantity to the proportional valve through set parameters of the touch screen, the six-axis robot switches a switch gun of a spray gun through interaction in the spraying process, the proportional valve is connected to an analog quantity output module terminal of the PLC through a wiring, 0-10V voltage is output through the analog quantity output module to control the output air pressure of the proportional valve, the electromagnetic valve is connected to an output module terminal of the PLC through a wiring to be controlled to be opened or closed, the PLC and the touch screen are connected through a network wire to be PROFINET (programmable logic network) for communication, and the automatic glue spraying gun and the six-axis robot are installed on a sixth-axis flange of the robot through a fixing flange to spray glue.
The automatic glue spraying system of the double glue guns of the robot carries out the debugging of a spray gun according to the size of a glue spraying product surface, the required pressure input is transmitted into the PLC through the touch screen to be processed, the PLC transmits the required pressure to the proportional valve through the analog quantity module conversion to control the spraying amplitude, the glue quantity and the atomization pressure, and therefore the glue spraying sector of the required glue gun is achieved. The six-axis robot and the PLC carry out signal interaction through PROFINET communication. And the robot interacts with the PLC through a teaching track program to carry out glue spraying operation of the switching gun head.
An analog quantity module: and the air pressure required by the output required by the communication adjustment of the proportional valve of the control system is charged.
PLC programmable logic controller: the system is used as a host to interact with a robot, a touch screen and a PID module through PROFINET communication to realize glue spraying operation.
A touch screen: and the PLC is communicated with a user, the user inputs parameters such as pressure and the like on the touch screen, and data are directly stored in the memory of the PLC to participate in operation control.
A proportional valve: the electric and analog quantity module is connected, and the air pressure control is carried out through the data transmitted by the analog quantity. The output port of the air source is connected with the air inlet of the electromagnetic valve.
Electromagnetic valve: the air inlet is connected with the air outlet of the proportional valve, and the PLC is used for controlling the opening or closing of the electromagnetic valve and controlling the spraying amplitude, the glue amount and the atomization of the spray gun.
Principle of control
The PLC is used as a host, the six-axis robot is used as a slave to perform signal interaction, the PLC can automatically read PID data before glue spraying products enter a glue spraying position, corresponding servo data are transmitted to a private clothes driver, meanwhile, a product program corresponding to sprayed glue of the robot is automatically called out, a start button is pressed, the servo motor sends a glue spraying hanger with products to the glue spraying position, a glue spraying door is closed, and the positioning clamping jaw cylinder is closed. PLC starts the robot through remote mode and spouts gluey. And in the glue spraying process, switching of the spray gun is carried out according to a track program taught by the robot. So as to satisfy the spraying effect of wide and narrow surfaces.
The working mode is as follows: automatic mode of operation
The automatic mode is selected on the control panel, the robot control cabinet knob is revolved and is made the ATUO mode, robot demonstrator knob is revolved and is made the AUTO mode, press the start button, equipment enters into automatic working mode, will spout gluey hanger place the conveying truss on, press the start button, PLC can read the data of PID sign indicating number piece on the hanger this moment, PLC can call servo and the gluey procedure of spouting that the robot corresponds according to the serial number of sign indicating number piece. When the glue spraying hanger reaches the glue spraying position, the jig can be tightened by the positioning clamping jaw. The door of the glue spraying chamber can be closed, and the PLC remotely starts the robot. The robot can carry out the switching of two gluey guns according to the procedure of teaching and spout gluey operation, spouts gluey back robot and can get back to the point of awaiting orders, spouts gluey room door and opens automatically, and the location cylinder is opened, and the truss can convey the initial point of hanging tool on the operator with spouting gluey hanging tool and the action of brushing the rifle with this while robot.
If the robot is suddenly switched to a manual mode, a servo alarm, a robot alarm, an emergency stop button is pressed down and the safety door is opened in the automatic mode, the robot stops spraying, and the robot needs to be manually started to finish the glue spraying program and then can return to a standby point.
The invention has the advantages and positive effects that:
the system has the advantages of reasonable design, convenient operation, no need of personnel intervention in the glue spraying process, uniform glue spraying without leakage by the robot, constant efficiency, cost saving and production efficiency improvement.
Drawings
FIG. 1 is a flow chart of a robotic dual glue gun automatic glue dispensing system;
FIG. 2 is a schematic diagram of the wiring control of the robot dual-gun automatic glue-spraying system;
FIG. 3 is an automatic operational mode flow diagram;
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
1. referring to fig. 1, 2 and 3, the robot double-gun head automatic glue spraying system of the embodiment is composed of a PLC programmable logic controller, a touch screen, a proportional valve, an electromagnetic valve, a six-axis robot and an automatic glue spraying gun, wherein the PLC programmable logic controller communicates with the touch screen and the six-axis robot through PROFINET, the PLC programmable logic controller outputs an analog quantity to the proportional valve through setting parameters of the touch screen, and the six-axis robot switches the gun on/off by interaction during the spraying process. The proportional valve is connected to an analog quantity output module terminal of the PLC through wiring, 0-10V voltage is output through the analog quantity output module to control the output air pressure of the proportional valve, the electromagnetic valve is connected to the output module terminal of the PLC through wiring to be controlled to be opened or closed, the PLC is connected with the touch screen through a network cable to be PROFINET communication, and the automatic glue spraying gun and the six-axis robot are installed on a sixth-axis flange of the robot through a fixing flange to spray glue.
The automatic glue spraying system of the double glue guns of the robot carries out the debugging of a spray gun according to the size of a glue spraying product surface, the required pressure input is transmitted into the PLC through the touch screen to be processed, the PLC transmits the required pressure to the proportional valve through the analog quantity module conversion to control the spraying amplitude, the glue quantity and the atomization pressure, and therefore the glue spraying sector of the required glue gun is achieved. The six-axis robot and the PLC carry out signal interaction through PROFINET communication. And the robot interacts with the PLC through a teaching track program to carry out glue spraying operation of the switching gun head.
An analog quantity module: and the air pressure required by the output required by the communication adjustment of the proportional valve of the control system is charged.
PLC programmable logic controller: the system is used as a host to interact with a robot, a touch screen and a PID module through PROFINET communication to realize glue spraying operation.
A touch screen: and the PLC is communicated with a user, the user inputs parameters such as pressure and the like on the touch screen, and data are directly stored in the memory of the PLC to participate in operation control.
A proportional valve: the electric and analog quantity module is connected, and the air pressure control is carried out through the data transmitted by the analog quantity. The output port of the air source is connected with the air inlet of the electromagnetic valve.
Electromagnetic valve: the air inlet is connected with the air outlet of the proportional valve, and the PLC is used for controlling the opening or closing of the electromagnetic valve and controlling the spraying amplitude, the glue amount and the atomization of the spray gun.
2. Referring to fig. 2, the control principle of the robot double-gun head automatic glue spraying system is as follows:
the PLC is used as a host, the six-axis robot is used as a slave to perform signal interaction, the PLC can automatically read PID data before glue spraying products enter a glue spraying position, corresponding servo data are transmitted to a private clothes driver, meanwhile, a product program corresponding to sprayed glue of the robot is automatically called out, a start button is pressed, the servo motor sends a glue spraying hanger with products to the glue spraying position, a glue spraying door is closed, and the positioning clamping jaw cylinder is closed. The PLC starts the robot to spray glue through a remote mode. And in the glue spraying process, switching of the spray gun is carried out according to a track program taught by the robot. So as to satisfy the spraying effect of wide and narrow surfaces.
3. Referring to fig. 3, the automatic working mode of the robot double-gun head automatic glue spraying system is as follows:
the automatic mode is selected on the control panel, the robot control cabinet knob is revolved and is made the ATUO mode, robot demonstrator knob is revolved and is made the AUTO mode, press the start button, equipment enters into automatic working mode, will spout gluey hanger place the conveying truss on, press the start button, PLC can read the data of PID sign indicating number piece on the hanger this moment, PLC can call servo and the gluey procedure of spouting that the robot corresponds according to the serial number of sign indicating number piece. When the glue spraying hanger reaches the glue spraying position, the jig is clamped by the positioning clamping jaw. The door of the glue spraying chamber can be closed, and the PLC remotely starts the robot. The robot can carry out the switching of two gluey guns according to the procedure of teaching and spout gluey operation, spouts gluey back robot and can get back to the point of awaiting orders, spouts gluey room door and opens automatically, and the location cylinder is opened, and the truss can convey the initial point of hanging tool on the operator with spouting gluey hanging tool and the action of brushing the rifle with this while robot.
If the automatic mode is suddenly switched to a manual mode, a servo alarm, a robot alarm, an emergency stop button is pressed down, and the safety door is opened, the robot stops spraying, and the robot is started manually to finish the glue spraying program to return to a standby point.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, the embodiments described in the detailed description, as well as other embodiments that can be derived by one skilled in the art from the teachings herein.
Claims (7)
1. The robot double-gun head automatic glue spraying system is characterized by comprising a PLC (programmable logic controller), a touch screen, a proportional valve, an electromagnetic valve, a six-axis robot and an automatic glue spraying gun, wherein the PLC is in communication connection with the touch screen and the six-axis robot through PROFINET; the PLC outputs the analog quantity to the proportional valve through the touch screen setting parameters; the six-axis robot switches a switch gun of the spray gun through interaction in the spraying process; the proportional valve is connected to an analog quantity output module terminal of the PLC through a wiring; the electromagnetic valve is connected to an output module terminal of the PLC through a wiring to perform on-off control; the PLC is connected with the touch screen through a network cable to perform PROFINET communication; the automatic glue spraying gun and the six-axis robot are installed on a sixth flange of the robot through a fixed flange to spray glue.
2. The automatic glue-spraying system of the robot double-glue gun as claimed in claim 1, wherein the required pressure input is transmitted to the PLC programmable logic controller through the touch screen for spray gun debugging of the size of the glue-sprayed product surface; the PLC transmits the required pressure to the proportional valve through the conversion of the analog quantity module to control the spraying amplitude, the glue quantity and the atomization pressure; the six-axis robot and the PLC are communicated through PROFINET to carry out signal interaction; and the robot carries out glue spraying operation of switching the gun heads by interaction of a teaching track program and a PLC (programmable logic controller).
3. The automatic glue spraying system of the robot double glue guns as claimed in claim 1, wherein the analog quantity module is responsible for outputting the required air pressure for the communication adjustment of the proportional valve of the control system.
4. The automatic glue spraying system of the robot double glue guns according to claim 1, wherein the PLC is used as a host to interact with the robot, the touch screen and the PID module through PROFINET communication to realize glue spraying operation.
5. The automatic glue spraying system of the robot double glue guns as claimed in claim 1, wherein the touch screen is in communication with the PLC, the touch screen inputs parameters such as pressure, and data are directly stored in the memory of the PLC to participate in operation control.
6. The automatic glue gun system of claim 1 wherein the proportional valve is pneumatically controlled by analog data.
7. The automatic glue spraying system of the robot double glue guns according to claim 1, wherein the solenoid valve is controlled to open or close by a PLC programmable logic controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211155384.5A CN115445812A (en) | 2022-09-22 | 2022-09-22 | Automatic glue spraying system with double robot gun heads |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211155384.5A CN115445812A (en) | 2022-09-22 | 2022-09-22 | Automatic glue spraying system with double robot gun heads |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115445812A true CN115445812A (en) | 2022-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211155384.5A Pending CN115445812A (en) | 2022-09-22 | 2022-09-22 | Automatic glue spraying system with double robot gun heads |
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| CN (1) | CN115445812A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909231A (en) * | 2023-07-24 | 2023-10-20 | 成都飞机工业（集团）有限责任公司 | Automatic control system of flame aluminum spraying production line for aircraft wing production |
-
2022
- 2022-09-22 CN CN202211155384.5A patent/CN115445812A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909231A (en) * | 2023-07-24 | 2023-10-20 | 成都飞机工业（集团）有限责任公司 | Automatic control system of flame aluminum spraying production line for aircraft wing production |
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